Download inverted pendulum control - Introduction

Department of Electronic, Communication and Electrical Engineering
Msc. Final Year
University of Hertfordshire
Project Report
Even though FIS controller has not been developed and implemented on the real-time
ire
inverted pendulum hardware. By using a C code which is compiled and debugged in
ZDS II C complier provided by the ZILOG Z8 encore development board, i control
the pole of the inverted pendulum hardware. So finally we can say that for nonlinear
sh
systems like inverted pendulum can be controller by closing the loop of the system by
using appropriate sensors like encoders. FIS controller are quite reliable for this type
or
d
of systems because just by closing the loop of the inverted pendulum we cant get the
desired position of the inverted pendulum in non-linear state.
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6.4 Potential Further Work
6.4.1 Problems and Difficulties
He
Inverted pendulum hardware is completely built, but the only problem in this hardware is the
friction between the first link and the shaft. As I said earlier manufacturing department was is
in so hurry that they just build the hardware. Even though I used the bearing I was unable to
of
reduce the friction between shaft and link. I think it will be fine if we change the shaft rod
because the shaft rod is not smooth, I mean it has got some rough surface (bends).
Although the inverted pendulum hardware is tested using C programming compiled and
ty
debugged in ZDS II C compiler. But still I am not sure these coding work properly, therefore
if required try to modify the program.
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6.4.2 Further work
The performance of the inverted pendulum is limited by the low-budget. If a further work in
ive
this area is required, then following things have to changed
Instead of incremental encoder I will prefer the absolute encoders which give me the exact
position of the shaft in one rotation. No need to count the pulses for calculating the pole
Un
position. Which will substantially decreases the burden on processor (Z8 controller)
performance or hardware complexity (if we are using increment decoder/counter).
Although inverted pendulum hardware is completed, but still some modification have to be
done to improve the performance of the system specially shaft which is fixed on the first link
has to be changed to reduce the friction.
Design the FIS controller and implement this fuzzy interference system controller on the
inverted pendulum hardware. Learn how to interface between host PC and Z8 controller using
UARTs .
Shareef Mohd Aslam
Inverted Pendulum Control
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